CN110262482A - A kind of unmanned boat speed of a ship or plane control method and unmanned boat - Google Patents
A kind of unmanned boat speed of a ship or plane control method and unmanned boat Download PDFInfo
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- CN110262482A CN110262482A CN201910494866.5A CN201910494866A CN110262482A CN 110262482 A CN110262482 A CN 110262482A CN 201910494866 A CN201910494866 A CN 201910494866A CN 110262482 A CN110262482 A CN 110262482A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 38
- 230000007613 environmental effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 abstract description 12
- 230000006870 function Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 239000003643 water by type Substances 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to technical field of ships, are related to unmanned boat speed of a ship or plane control method and unmanned boat, provide a kind of unmanned boat speed of a ship or plane control method and unmanned boat；Determine target obstacle and target obstacle movement speed；Obtain unmanned boat real-time location coordinates, unmanned boat route speed；According to target obstacle movement speed, the real-time route speed of unmanned boat determines the coordinate position of the minimum safe distance between target obstacle travelling route and unmanned boat；Determine the safety lanes length between unmanned boat and the minimum safe distance coordinate；Determine that target obstacle is moved to the first hours underway needed for minimum safe distance；According to safety lanes length, the first hours underway determines the real-time speed of a ship or plane of unmanned boat.By determining that the speed of barrier and the minimum safe distance of barrier travelling route and unmanned boat, the information such as route speed of unmanned boat adjust the speed of a ship or plane of unmanned boat in real time, the efficiency requirements of unmanned boat measurement were both able to satisfy, can also ensure the safety of operation at sea.
Description
Technical field
The present invention relates to technical field of ships, more specifically, be related to a kind of unmanned boat speed of a ship or plane control method and nobody
Ship.
Background technique
In the real navigation of unmanned boat, the usual rough navigation route of advance planning, ship keep it is a certain compared with
It is navigated by water for the fixed speed of a ship or plane.
But when unmanned boat is when crowded waters carry out operation, unmanned boat measures navigation according to setting speed, if prison
Barrier is measured, then stops navigating by water, after barrier sails out of mapping waters, unmanned boat is measured according still further to setting speed.By
It remains that constant speed measures in unmanned boat, often barrier is avoided in crowded waters needs, stops navigation and measurement, leads
Cause measurement efficiency lower.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned boat speed of a ship or plane control method and unmanned boats, it is intended to solve unmanned boat numerous
When busy waters measures, unmanned boat carries out constant speed measurement during sailing, the lower problem of measurement efficiency.
To achieve the above object, the technical solution adopted by the present invention is that:
Determine target obstacle and target obstacle movement speed；Obtain unmanned boat real-time location coordinates, unmanned boat boat
Scanning frequency degree；According to the target obstacle movement speed, the unmanned boat route speed, determine target obstacle travelling route with
The coordinate position of the minimum safe distance of the unmanned boat point of impingement and unmanned boat apart from the point of impingement；According to the unmanned boat
Real-time location coordinates, the coordinate of the minimum safe distance, determine unmanned boat and the minimum safe distance coordinate position it
Between safety lanes length；Determine that the target obstacle is moved to the first hours underway needed for the point of impingement；According to institute
Safety lanes length is stated, first hours underway determines the unmanned boat speed of a ship or plane.
By determining the speed of barrier and the minimum safe distance of barrier travelling route and unmanned boat, unmanned boat
The information such as route speed, adjust the speed of a ship or plane of unmanned boat in real time, be both able to satisfy the efficiency requirements of unmanned boat measurement, and can also ensure water
The safety of upper operation.
Further, environmental information is obtained, unmanned boat sets route speed, unmanned boat real navigation speed is calculated, by institute
Real navigation speed is stated as unmanned boat route speed.
Further, water velocity is obtained, unmanned boat sets route speed；According to the angle between water flow and unmanned boat bow
Degree, the unmanned boat setting route speed and water velocity, determine the real navigation speed of unmanned boat, by the real navigation speed
Degree is used as unmanned boat route speed.
Wind direction, wind speed are further obtained, unmanned boat sets route speed；According to the wind direction, wind speed, unmanned boat setting
Route speed determines the real navigation speed of unmanned boat, using the real navigation speed as unmanned boat route speed.
Environmental information, such as water flow, wind direction, wind speed etc. have an impact to the route speed of unmanned boat, obtain environmental information, knot
The speed of a ship or plane that environmental information determines unmanned boat is closed, speed of a ship or plane control can be made more accurate.
Further, it is determined that unmanned boat maximum measures the speed of a ship or plane；Judge whether the real-time speed of a ship or plane of determining unmanned boat is greater than institute
The unmanned boat maximum measurement speed of a ship or plane is stated, if more than then unmanned boat Suspend Job；Otherwise unmanned boat according to the determination the real-time speed of a ship or plane
It is navigated by water.
Unmanned boat is when measuring operation, if the speed of a ship or plane is too fast, causes measurement data inaccurate, according to maximum measurement speed
It spends and is compared with the real-time speed of a ship or plane calculated, balancing a survey efficiency and the speed of a ship or plane.
This programme further includes a kind of unmanned boat, which includes:
Obstacle information acquiring unit, for determining target obstacle and target obstacle movement speed；
Unmanned boat information acquisition unit, for obtaining unmanned boat real-time location coordinates, unmanned boat route speed；
Speed of a ship or plane computing unit, for according to the target obstacle movement speed, the unmanned boat route speed to determine mesh
Mark the coordinate bit of barrier travelling route and the minimum safe distance of the unmanned boat point of impingement and unmanned boat apart from the point of impingement
It sets；
The speed of a ship or plane computing unit is also used to the real-time location coordinates according to the unmanned boat, the minimum safe distance
Coordinate, it is single to determine that the speed of a ship or plane described in the safety lanes length between unmanned boat and the minimum safe distance coordinate position calculates
Member is also used to determine that the target obstacle is moved to the first hours underway needed for the point of impingement；
The speed of a ship or plane computing unit is also used to according to the safety lanes length, and first hours underway determines nobody
The real-time speed of a ship or plane of ship.
Further, the unmanned boat information acquisition unit, is also used to:
Environmental information is obtained, unmanned boat sets route speed, unmanned boat real navigation speed is calculated, by the real navigation
Speed is as unmanned boat route speed.
Further, the unmanned boat information acquisition unit, is also used to:
Water velocity is obtained, unmanned boat sets route speed；According to the angle between water flow and unmanned boat bow, the nothing
People's ship sets route speed and water velocity, the real navigation speed of unmanned boat is determined, using the real navigation speed as nothing
People's ship route speed.
Further, the unmanned boat information acquisition unit, is also used to:
Wind direction, wind speed are obtained, unmanned boat sets route speed；According to the wind direction, wind speed, unmanned boat setting navigation speed
Degree, determines the real navigation speed of unmanned boat, using the real navigation speed as unmanned boat route speed.
Further, the speed of a ship or plane computing unit, is also used to:
Determine that unmanned boat maximum measures the speed of a ship or plane；Judge whether the real-time speed of a ship or plane of determining unmanned boat is greater than the unmanned boat most
The big measurement speed of a ship or plane, if more than then unmanned boat Suspend Job；Otherwise unmanned boat is navigated by water according to the real-time speed of a ship or plane of the determination.
Compared with prior art, unmanned boat speed of a ship or plane control method beneficial effect provided by the invention is: being hindered by determining
Hinder in the speed and barrier travelling route of object on the point of impingement of unmanned boat, unmanned ship route between the point of impingement
Minimum safe distance, the information such as route speed of unmanned boat adjust the speed of a ship or plane of unmanned boat in real time, it is ensured that barrier passes through the point of impingement
When, unmanned boat does not reach another endpoint of minimum safe distance also, so that the efficiency requirements of unmanned boat measurement be both able to satisfy,
It can ensure the safety of operation at sea.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the first unmanned boat speed of a ship or plane control method schematic diagram provided in an embodiment of the present invention；
Fig. 2 is second of unmanned boat speed of a ship or plane control method schematic diagram provided in an embodiment of the present invention；
Fig. 3 is that the embodiment of the present invention provides unmanned boat schematic diagram.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot in the description of the present application
It is interpreted as indication or suggestion relative importance.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
As shown in Figure 1, for a kind of unmanned boat speed of a ship or plane control method in the embodiment of the present invention, this method comprises:
Step 101: determining target obstacle and target obstacle movement speed；
Unmanned boat is voluntarily scanned by bank base base station or unmanned boat, obtains the mobile barrier that can be potentially encountered in measuring route
Hinder object, such as passing ships, aquatic animal etc., as target obstacle.
The real-time movement speed of target obstacle, the movement speed as target obstacle in this time are obtained, or is obtained
The average speed for taking the setting duration of target obstacle, the movement speed as target obstacle.
Step 102: obtaining unmanned boat real-time location coordinates, unmanned boat route speed；
The route speed that unmanned boat can be set is as unmanned boat route speed；Also available following at least one ring
Border information, such as water velocity, wind direction, wind speed, tide etc.；According to the speed of a ship or plane that environmental information and unmanned boat are set, unmanned boat is calculated
Real navigation speed, using the real navigation speed of unmanned boat as unmanned boat route speed.
When determining unmanned boat route speed, needing to obtain the angle between unmanned boat bow and water flow according to water velocity
Degree and water velocity, calculate the real navigation speed of unmanned boat, navigate by water the real navigation speed of unmanned boat as unmanned boat
Speed.
When determining unmanned boat route speed, needing to obtain the angle between unmanned boat bow and wind direction according to wind speed, with
And wind speed, the real navigation speed of unmanned boat is calculated, using the real navigation speed of unmanned boat as unmanned boat route speed.
Step 103: according to target obstacle movement speed, unmanned boat route speed determines target obstacle travelling route
The coordinate position of minimum safe distance with the unmanned boat point of impingement and unmanned boat apart from the point of impingement；
According to the mobile speed of target obstacle and the path in navigation channel, the real-time route speed of unmanned boat, and navigation
Route judges the coordinate of the minimum safe distance of the point of impingement and unmanned boat of unmanned boat and target obstacle apart from the point of impingement
Position, by unmanned boat and target obstacle the point of impingement minimum safe distance position coordinate, as minimum safe distance
Coordinate.
Step 104: according to the real-time location coordinates of unmanned boat, the coordinate of minimum safe distance determines unmanned boat and minimum
Safety lanes length between safe distance coordinate position；
According to the real-time location coordinates of unmanned boat and the coordinate of minimum safe distance, safety lanes length is calculated.
Step 105: determining that target obstacle is moved to the first hours underway needed for the point of impingement；
Target obstacle is calculated from current instant position, until the coordinate points of the point of impingement are sailed out of, required hours underway, as
First hours underway.
Step 106: according to safety lanes length, the first hours underway determines the real-time speed of a ship or plane of unmanned boat.
After determining the unmanned boat speed of a ship or plane, then obtain unmanned boat maximum measurement the speed of a ship or plane, however, it is determined that the real-time speed of a ship or plane be greater than unmanned boat
The maximum measurement speed of a ship or plane, then unmanned boat pause navigation and measurement operation continue to navigate by water and survey after target obstacle sails out of the point of impingement
Measure operation；If it is determined that the real-time speed of a ship or plane no more than unmanned boat maximum measure the speed of a ship or plane, then unmanned boat according to the determining real-time speed of a ship or plane into
Row operation.
As shown in Fig. 2, being specifically included for the first unmanned boat speed of a ship or plane control method in the embodiment of the present invention:
Step 201: determining target obstacle, obtain the average speed of the setting duration of target obstacle, hinder as target
Hinder the movement speed of object；
Step 202: obtaining unmanned boat real-time location coordinates, unmanned boat sets route speed；
Step 203: obtaining the angle between flow information of water, including water velocity and water (flow) direction and unmanned boat bow；
Step 204: according to flow information of water, unmanned boat sets route speed, determines the real navigation speed of unmanned boat；
Step 205: the minimum safe of confirmation unmanned boat and the point of impingement and unmanned boat of target obstacle apart from the point of impingement
Distance；
Step 206: the minimum safe distance position coordinate by unmanned boat apart from the point of impingement, as minimum safe distance
Coordinate；
Step 207: according to the real-time location coordinates of unmanned boat and the coordinate of minimum safe distance, calculating safety lanes
Length；
Step 208: determining that target obstacle is moved to the first hours underway needed for the point of impingement；
Step 209: according to safety lanes length, the first hours underway determines the unmanned boat speed of a ship or plane.
After determining the real-time speed of a ship or plane of unmanned boat, then obtain unmanned boat maximum measurement the speed of a ship or plane, however, it is determined that the real-time speed of a ship or plane be greater than nothing
People's ship maximum measures the speed of a ship or plane, then unmanned boat Suspend Job, after target obstacle sails out of the coordinate points of minimum safe distance, continues
Operation；If it is determined that the real-time speed of a ship or plane measure the speed of a ship or plane no more than unmanned boat maximum, then unmanned boat is carried out according to the determining real-time speed of a ship or plane
Operation.
As shown in figure 3, for a kind of unmanned boat in the embodiment of the present invention, which includes:
Obstacle information acquiring unit 301, for determining target obstacle and target obstacle movement speed；
Unmanned boat is voluntarily scanned by bank base base station or unmanned boat, obtains the mobile barrier that can be potentially encountered in measuring route
Hinder object, such as passing ships, aquatic animal etc., as target obstacle.
The real-time movement speed of target obstacle, the movement speed as target obstacle in this time are obtained, or is obtained
The average speed for taking the setting duration of target obstacle, the movement speed as target obstacle.
Unmanned boat information acquisition unit 302, for obtaining unmanned boat real-time location coordinates, unmanned boat route speed；
The route speed that unmanned boat can be set is as unmanned boat route speed；Also available following at least one ring
Border information, such as water velocity, wind direction, wind speed, tide etc.；According to the speed of a ship or plane that environmental information and unmanned boat are set, unmanned boat is calculated
Real navigation speed, using the real navigation speed of unmanned boat as unmanned boat route speed.
When determining unmanned boat route speed, needing to obtain the angle between unmanned boat bow and water flow according to water velocity
Degree and water velocity, calculate the real navigation speed of unmanned boat, navigate by water the real navigation speed of unmanned boat as unmanned boat
Speed.
When determining unmanned boat route speed, needing to obtain the angle between unmanned boat bow and wind direction according to wind speed, with
And wind speed, the real navigation speed of unmanned boat is calculated, using the real navigation speed of unmanned boat as unmanned boat route speed.
Speed of a ship or plane computing unit 303, for according to target obstacle movement speed, unmanned boat route speed to determine that target hinders
Hinder the coordinate position of object travelling route Yu the minimum safe distance of the unmanned boat point of impingement and unmanned boat apart from the point of impingement；
According to the mobile speed of target obstacle and the path in navigation channel, the real-time route speed of unmanned boat, and navigation
Route judges the coordinate of the minimum safe distance of the point of impingement and unmanned boat of unmanned boat and target obstacle apart from the point of impingement
Position, by unmanned boat and target obstacle the point of impingement minimum safe distance position coordinate, as minimum safe distance
Coordinate.
Speed of a ship or plane computing unit 303, is also used to the real-time location coordinates according to unmanned boat, the coordinate of minimum safe distance, really
Determine the safety lanes length between unmanned boat and minimum safe distance coordinate position；According to the real-time location coordinates of unmanned boat, with
And the coordinate of minimum safe distance, calculate safety lanes length.
Speed of a ship or plane computing unit 303 is also used to determine that target obstacle is moved to the first hours underway needed for the point of impingement；Meter
Target obstacle is calculated from current instant position, until the coordinate points of the point of impingement are sailed out of, required hours underway, when as the first navigation
Between.
Speed of a ship or plane computing unit 303 is also used to according to safety lanes length, and the first hours underway determines that unmanned boat navigates in real time
Speed.
Speed of a ship or plane computing unit 303 after being also used to determine the real-time speed of a ship or plane of unmanned boat, then obtains the unmanned boat maximum measurement speed of a ship or plane,
If it is determined that the real-time speed of a ship or plane be greater than unmanned boat maximum measure the speed of a ship or plane, then unmanned boat pause navigation and measurement operation, to target disorders
After object sails out of the point of impingement, continue to navigate by water and measure operation；If it is determined that the real-time speed of a ship or plane no more than unmanned boat maximum measure the speed of a ship or plane, then
Unmanned boat carries out operation according to the determining real-time speed of a ship or plane.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, abbreviation ROM), random access memory
(Random Access Memory, abbreviation RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
, the content that the computer-readable medium includes can be according to the requirement progress made laws in jurisdiction with patent practice
Increase and decrease appropriate, such as do not include electric carrier wave according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal and telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of unmanned boat speed of a ship or plane control method, which is characterized in that this method comprises:
Determine target obstacle and target obstacle movement speed；
Obtain unmanned boat real-time location coordinates, unmanned boat route speed；
According to the target obstacle movement speed, the unmanned boat route speed determines target obstacle travelling route and nothing
The coordinate position of the minimum safe distance of people's foul point and unmanned boat apart from the point of impingement；
According to the real-time location coordinates of the unmanned boat, the coordinate of the minimum safe distance determines unmanned boat and the minimum
Safety lanes length between safe distance coordinate position；
Determine that the target obstacle is moved to the first hours underway needed for the point of impingement；
According to the safety lanes length, first hours underway determines the unmanned boat speed of a ship or plane.
2. unmanned boat speed of a ship or plane control method as described in claim 1, which is characterized in that the acquisition unmanned boat real time position is sat
Mark, unmanned boat route speed, comprising:
Environmental information is obtained, unmanned boat sets route speed, sets route speed according to the environmental information and the unmanned boat
Unmanned boat real navigation speed is calculated, using the real navigation speed as unmanned boat route speed.
3. unmanned boat speed of a ship or plane control method as described in claim 1 or 2 is any, which is characterized in that the acquisition unmanned boat is real
When position coordinates, unmanned boat route speed, comprising:
Water velocity is obtained, unmanned boat sets the angle between route speed and water flow and unmanned boat bow；
According to the angle between water flow and unmanned boat bow, the unmanned boat setting route speed and water velocity determine nobody
The real navigation speed of ship, using the real navigation speed as unmanned boat route speed.
4. unmanned boat speed of a ship or plane control method as described in claim 1 or 2 is any, which is characterized in that the acquisition unmanned boat is real
When position coordinates, unmanned boat route speed, comprising:
Wind direction, wind speed are obtained, unmanned boat sets route speed；
According to the wind direction, wind speed, unmanned boat sets route speed, the real navigation speed of unmanned boat is determined, by the reality
Route speed is as unmanned boat route speed.
5. unmanned boat speed of a ship or plane control method as described in claim 1, which is characterized in that according to the safety lanes length, institute
The first hours underway is stated, after determining the unmanned boat speed of a ship or plane, further includes:
Determine that unmanned boat maximum measures the speed of a ship or plane；
Judge whether the unmanned boat speed of a ship or plane is greater than the unmanned boat maximum measurement speed of a ship or plane, if more than then unmanned boat Suspend Job；
Otherwise unmanned boat is navigated by water according to the unmanned boat speed of a ship or plane of the determination.
6. a kind of unmanned boat, which is characterized in that the unmanned boat includes:
Obstacle information acquiring unit, for determining target obstacle and target obstacle movement speed；
Unmanned boat information acquisition unit, for obtaining unmanned boat real-time location coordinates, unmanned boat route speed；
Speed of a ship or plane computing unit, for according to the target obstacle movement speed, the unmanned boat route speed to determine that target hinders
Hinder the coordinate position of object travelling route Yu the minimum safe distance of the unmanned boat point of impingement and unmanned boat apart from the point of impingement；
The speed of a ship or plane computing unit is also used to the real-time location coordinates according to the unmanned boat, the seat of the minimum safe distance
Mark, determines the safety lanes length between unmanned boat and the minimum safe distance coordinate position；
The speed of a ship or plane computing unit, when being also used to determine that the target obstacle is moved to the first navigation needed for the point of impingement
Between；
The speed of a ship or plane computing unit is also used to determine that unmanned boat navigates according to the safety lanes length, first hours underway
Speed.
7. unmanned boat as claimed in claim 6, which is characterized in that the unmanned boat information acquisition unit is used for:
Environmental information is obtained, unmanned boat sets route speed, sets route speed according to the environmental information and the unmanned boat
Unmanned boat real navigation speed is calculated, using the real navigation speed as unmanned boat route speed.
8. the unmanned boat as described in claim 6 or 7 is any, which is characterized in that the unmanned boat information acquisition unit is used for:
Water velocity is obtained, unmanned boat sets the angle between route speed and water flow and unmanned boat bow；
According to the angle between water flow and unmanned boat bow, the unmanned boat setting route speed and water velocity determine nobody
The real navigation speed of ship, using the real navigation speed as unmanned boat route speed.
9. the unmanned boat as described in claim 6 or 7 is any, which is characterized in that the unmanned boat information acquisition unit is used for:
Wind direction, wind speed are obtained, unmanned boat sets route speed；
According to the wind direction, wind speed, unmanned boat sets route speed, the real navigation speed of unmanned boat is determined, by the reality
Route speed is as unmanned boat route speed.
10. unmanned boat as claimed in claim 6, which is characterized in that the speed of a ship or plane computing unit is also used to:
Determine that unmanned boat maximum measures the speed of a ship or plane；
Judge whether the determining unmanned boat speed of a ship or plane is greater than the unmanned boat maximum measurement speed of a ship or plane, if more than then unmanned boat suspends
Operation；Otherwise unmanned boat is navigated by water according to the unmanned boat speed of a ship or plane of the determination.
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